Related papers: A Complexity Indicator for 4D Flight Trajectories …
Simulation based or dynamic probabilistic risk assessment methodologies were primarily developed for proving a more realistic and complete representation of complex systems accident response. Such simulation based methodologies have proven…
We introduce an approach which allows detecting causal relationships between variables for which the time evolution is available. Causality is assessed by a variational scheme based on the Information Imbalance of distance ranks, a…
In chaotic dynamical systems, a number of rare trajectories with low level of chaoticity are embedded in chaotic sea, while extraordinary unstable trajectories can exist even in weakly chaotic regions. In this study, a quantitative method…
We revisit the computation of a probability of collision in the context of automotive collision avoidance (also referred to as conflict detection in other contexts). After reviewing existing approaches to the definition and computation of a…
Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredibly fast, even in higher dimensions, and can account for…
Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…
Mission planners for aircraft operating under threat of detection by ground-based radar systems are concerned with the probability of detection. Current path planning methods for such scenarios consider the aircraft pose, radar position,…
We present a novel complex number formulation along with tight convex relaxations for the aircraft conflict resolution problem. Our approach combines both speed and heading control and provides global optimality guarantees despite…
Spatial interactions between agents (humans, animals, or machines) carry information of high value to human or electronic observers. However, not all the information contained in a pair of continuous trajectories is important and thus the…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…
This Engineering Note addresses the challenge of estimating the probability of collision for tethered spacecraft during close encounters with other space objects. Standard probability of collision methods, based on spherical hard-body…
The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art approach to computing optimal solutions is Conflict-Based…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
Recurrent Neural Network, Long Short-Term Memory, and Transformer have made great progress in predicting the trajectories of moving objects. Although the trajectory element with the surrounding scene features has been merged to improve…
Persistent contrails make up a large fraction of aviation's contribution to global warming. We describe a scalable, automated detection and matching (ADM) system to determine from satellite data whether a flight has made a persistent…
Consider two entities with constant but not necessarily equal velocities, moving on two given piece-wise linear trajectories inside a simple polygon $P$. The Trajectory Range Visibility problem deals with determining the sub-trajectories on…
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…
We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
A people-centred approach for designing large-scale built-up spaces necessitates systematic anticipation of user's embodied visuo-locomotive experience from the viewpoint of human-environment interaction factors pertaining to aspects such…